JPH05208794A - Automatic cargo lifting device - Google Patents

Abstract

PURPOSE:To automate high-efficient lifting conveyance of a cargo by recognizing propriety of a holding state of a cargo by means of a holding means when automatic lifting conveyance of a cargo, such as excavated earth, is effected and automatically effecting re-holding operation when a holding state is defective. CONSTITUTION:The tension of a wire when a bucket 92 holding excavated earth is lifted is detected by a load cell 95 and the detected tension is compared with a given threshold held in a control device 96. When the tension is below the given threshold, the control device 96 causes a winch device 91 to unwind the wire to lower the bucket 92. The bucket 92 is opened and closed to rehold excavated earth, and consecutively the wire is wound by means of the winch device 91 to raise the bucket 92.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic unloading device for grasping and hoisting cargo such as earth and sand.

[0002]

2. Description of the Related Art Conventionally, various unloading devices for holding and hoisting loads have been provided. For example, in the case of a grab bucket, a winch pulls out a wire and the bucket suspended by the wire is loaded with earth and sand. It is configured to lift the luggage by lowering it to the position of the luggage such as ing. Then, in the case of automatically carrying a load using this type of unloading device, the control device controls the operation of the winch or bucket based on a predetermined program, and a series of lifting and lowering or opening and closing of the bucket is performed. The operation is automatically performed.

[0003]

However, if the amount of earth and sand grasped by the opening / closing operation of the bucket is small or the load is not grasped, the load carrying efficiency is lowered if the load carrying operation is carried out as it is. In the past, since the worker was recognizing the amount of earth and sand grasped by the bucket and the quality of the grasped state of the bucket by monitoring the worker, when automatically lifting the load such as earth and sand It was an obstacle. The present invention has been made in view of the above circumstances, and automatically and easily recognizes whether the holding state of the luggage by the holding means is good, and when the holding state is poor, the re-holding operation is automatically performed to improve efficiency. An object of the present invention is to provide an automatic unloading device that can automatically perform good lifting and carrying of loads.

[0004]

In order to achieve the above object, the present invention provides a holding means for holding a load, a wire for suspending the holding means, and a winding and winding of the wire to raise and lower the holding means. In an automatic unloading device comprising a lifting means and a control means for controlling the operation of the holding means and the lifting means, a detection means for detecting the tension of the wire when the holding means holding the load is lifted, A comparison means for comparing the detected tension with a predetermined threshold value is provided, and when the control means determines that the tension of the wire is below the predetermined threshold value based on the comparison result of the comparison means, Re-holding operation control means for controlling the operations of the holding means and the elevating means so as to perform the re-holding operation is additionally provided.

[0005]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 2 is a side sectional view of an underground pit for underground excavation work performed using an automatic unloading device according to an embodiment of the present invention, and FIG. 3 is a front sectional view of an underground pit for underground excavation work shown in FIG. In FIG. 2, reference numeral 1 denotes a ground A formed along the line of the underground mine T that is formed long underground in the horizontal direction at predetermined intervals.
To the present excavation level L2 (only one is shown in FIG. 2), the excavated soil chute 2 is provided at the bottom of the opening 1, and the opening is 1, a grab lifter 3 and the like that can move up and down are provided.

In FIGS. 2 and 3, reference numeral 4 indicates the above-ground A according to the excavation width (10 m in this embodiment) of the underground mine T.
To the final excavation level L1 is a mountain retaining wall provided in the ground G, and the crossbeam 5 and the ceiling are provided in the upper portion between the mountain retaining walls 4 and 4 excavated from the ground A to a predetermined depth. The slab 6 is installed. On the lower surface 6a of the ceiling slab 6, two rails 7, 8 are provided along the longitudinal direction of the underground mine T.
Are provided in parallel. Further, in FIG. 2 and FIG. 3, 9 is an automatic unloading device movably provided along the rail 7 for transporting the excavated soil D excavated between the mountain retaining walls 4 and 4. A winch device 91, which is a grab bucket and serves as a lifting device, and the winch device 91.
And a wire W that is wound and unwound by the
And a trolley device 93 for moving a winch device 91 including the bucket 92 along the rail 7 and a bucket 92 provided at the tip of the bucket W and moved up and down as the wire W is wound and unwound. ..

The feeding and winding operation of the wire W by the winch device 91, the opening / closing operation of the bucket 92, and the traveling operation of the trolley device 93 are all performed by the control means and the re-holding operation control means shown in the block diagram of FIG. , And a control device 96 as a comparison means. As shown in FIG. 1, the control device 96 includes an encoder 94 for detecting the unwinding and winding amount of the wire W by the winch device 91.
Alternatively, a load cell 95 or the like as a detection means for detecting the tension of the wire W is connected. Then, when raising the bucket 92 holding the excavated soil D, the control device 96 temporarily stops the bucket 92 when the bucket 92 rises to a predetermined height, and at this time, the tension detected by the load cell 95. Is compared with a threshold value held in the control device 96, and when the tension of the wire W detected by the load cell 95 is lower than the threshold value, the gripping operation is performed during the excavated soil D described later. There is.

On the other hand, reference numeral 10 in the figure is an electric hoist movably provided along the rail 8, and a trolley device 101 movably attached to the rail 8.
A winch device 102 connected to the trolley device 101
And a swinging device 103 supported by the winch device 102 so as to be able to move up and down, and a suspension beam 104 rotatably held by the swinging device 103. This electric hoist 10 is a remote controller R1 operated by a worker or the like.
Based on the operation of, the excavated ground G mountain retaining wall 4,
The girder 11 installed between the four is carried into the underground mine T, and the trolley device 101 causes the space between the girder 11 on the uppermost stage and the ceiling slab 6 to open along the rail 8 in the opening 1 From above to the location above the erection point, and in this state, the winch device 1
02 lowers the revolving device 103 to the suspension beam 104, so that the cutting beam 11 mounted on the suspension beam 104.
Are transported to the installation site.

Further, in FIG. 2 and FIG. 3, 12 is excavated by excavating the ground G from one opening portion 1 to an adjacent opening portion (not shown) below the lowermost beam 11. Excavated soil D
It is a small backhoe that collects soil.

At the time of excavating the underground pit T, the ground G between the adjacent openings 1 is excavated from the ground A by an arbitrary means to carry in the small backhoe 12, and the beam 5 and the ceiling slab 6 are installed. Then, the excavated portion of the ground A excluding the opening 1 is temporarily repaired with an iron plate B or the like. Then, the small backhoe 12
While excavating the ground G at a depth of, for example, 2.6 m from one opening 1 to the adjacent opening (not shown), the excavated excavated soil D is located at a position directly below the rail 7. The soil is collected at intervals, and the piled excavated soil D1 thus collected is carried to the ground A by the grab bucket 9 and the grab lifter 3.

Here, the transfer operation of the piled excavated soil D1 collected will be described. First, under the control of the control device 96, the trolley device 93 is moved to a position above the piled excavated soil D1 collected along the rail 7, and the winch device 91 is operated by the winch device 91 while avoiding the existing cutting beam 11. 92 is lowered. The descending bucket 92 passes through the space C between the two girders 11 facing each other in the horizontal direction, and the descending bucket 92 is opened and closed to grasp the piled excavated soil D1. The control device 96 that has performed the above operation drives the winch device 91 to move upward to drive the bucket 92.
Is increased and the output of the encoder 94 is taken into consideration, and the amount of increase of the bucket 92 is monitored. Then, when the bucket 92 rises from the ground G at the soil collecting position to a predetermined height, the control device 96 temporarily stops (ground cutting) the upward drive of the winch device 91, and at this time, the wire detected by the load cell 95. Take in the tension of W.

This taken-in tension is compared with a threshold value held in the control device 96, and when the tension of the wire W detected by the load cell 95 is lower than this threshold value, the wire W is unwound by the winch device 91. Then, the bucket 92 is lowered to the position of the piled excavated soil D1, and the bucket 92 is opened and closed here to make the piled excavated soil D1.
Re-hold operation is performed. After this re-holding operation, the control device 96 raises the winch device 91 to raise the bucket 92, and temporarily stops (ground cutting) the rise drive of the winch device 91 at a predetermined rise height. The tension is compared with the threshold value.

When the tension of the wire W exceeds the threshold value in the comparison of the tension of the wire W with the threshold value, the controller 9
6 restarts the winding operation of the winch device 91 to wind the wire W, and lifts the bucket 92 in the ground cut state into the space U between the ceiling slab 6 and the uppermost beam 11 and thereafter. The trolley device 93 is driven to move, the bucket 92 is moved to the opening 1 along the rail 7, the bucket 92 is opened at a position above the opening 1, and the internal excavated soil D is transferred to the excavated soil chute 2. Let it drain. The excavated soil D discharged to the excavated soil chute 2 is carried out to the ground A through the opening 1 by the grab relifter 3 or the like, loaded on a dump truck or the like, and transferred to a predetermined disposal site.

After that, until the ground G is excavated to the final excavation level L1, the excavation of the ground G and the erection of the beams 11 are repeated to obtain a desired underground pit T.

As described above, in this embodiment, the piled excavated soil D
When the bucket 92 after grasping 1 rises from the soil collecting position and reaches a predetermined height position, the tension of the wire W is compared with a predetermined threshold value to determine whether or not the bucket 92 holds the piled excavated soil D1. Is confirmed and the gripping state is poor, the gripping operation of the piled excavated soil D1 is automatically performed again, so that the piled excavated soil D1 can be automatically and efficiently lifted and transported without manual intervention. The efficiency can be improved.

In this embodiment, the case where the automatic unloading device according to the present invention is applied to the grab bucket 9 has been described, but the present invention can be applied to the grab lifter 3 and the electric hoist 10 as well. Means are not limited to buckets. Further, the automatic unloading device according to the present invention is not applied only to the baggage transport device in the underground mine excavation work described above, for example, construction work for excavating the site to a predetermined depth and other works, unloading work, etc. It is needless to say that the present invention can be applied to various devices that are used for, and automatically perform lifting and conveying of luggage.

[0017]

As described above, according to the present invention, the tension of the wire when the holding means holding the load is lifted is detected by the detecting means, and the detected tension is compared with a predetermined threshold value. Then, when the tension falls below the predetermined threshold value, the re-holding operation control means attached to the control means,
Since the operations of the holding means and the elevating means are controlled so as to perform the re-holding operation of the luggage, when the holding state of the luggage by the holding means is automatically and easily recognized and the holding state is poor. It is possible to automatically carry out the re-holding operation and automatically carry out the lifting and conveying of the luggage efficiently.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of an automatic unloading device according to an embodiment of the present invention.

FIG. 2 is a side sectional view of an underground mine used for underground excavation work performed using the automatic unloading device shown in FIG.

FIG. 3 is a front sectional view of an underground mine used for the underground excavation work shown in FIG. 2.

[Explanation of symbols]

9 Grab bucket (automatic unloading device) 91 Winch device (elevating means) 92 Bucket (holding means) 95 Load cell (detection means) 96 Control device (control means, comparison means, reholding operation control means) D Excavated soil (baggage) W wire

Claims (1)

[Claims] 1. A holding means for holding a load, a wire for suspending the holding means, an elevating means for feeding and winding the wire to elevate and lower the holding means, and an operation of the holding means and the elevating means. In an automatic unloading device comprising a control means, a detection means for detecting the tension of the wire when the holding means holding the load is lifted, and a comparison means for comparing the detected tension with a predetermined threshold value. When the controller determines that the tension of the wire is lower than the predetermined threshold value based on the comparison result of the comparison unit, the operation of the holding unit and the lifting unit to perform the re-holding operation of the luggage. An automatic unloading device, characterized in that a re-grasping operation control means for controlling is attached.